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Iris: update iris_with_gimbal model to 3d gimbal #102

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merged 6 commits into from
Jul 7, 2024
Merged

Iris: update iris_with_gimbal model to 3d gimbal #102

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9533336
Updated gimbal 3d gimbal for yaw control
snktshrma Mar 9, 2024
864358d
Gimbal: match gimbal channels to wiki
srmainwaring Jun 27, 2024
b60e86e
Gimbal: increase possible range of all joints to -180 to 180 deg
srmainwaring Jul 5, 2024
0ed4cfb
Gimbal: reduce joint damping
srmainwaring Jul 5, 2024
af63373
Gimbal: update gimbal limits in controller settings
srmainwaring Jul 5, 2024
5c1bf93
Gimbal: update parameters to match plugin control settings
srmainwaring Jul 5, 2024
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52 changes: 29 additions & 23 deletions config/gazebo-iris-gimbal.parm
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Original file line number Diff line number Diff line change
Expand Up @@ -2,29 +2,35 @@
FRAME_CLASS 1
FRAME_TYPE 1

# IRLOCK FEATURE
RC8_OPTION 39
PLND_ENABLED 1
PLND_TYPE 3
# Match servo out for motors
MOT_PWM_MIN 1100
MOT_PWM_MAX 1900

# SONAR FOR IRLOCK
SIM_SONAR_SCALE 10
RNGFND1_TYPE 1
RNGFND1_SCALING 10
RNGFND1_PIN 0
RNGFND1_MAX_CM 5000
# Gimbal on mount 1 has 3 DOF
MNT1_TYPE 1 # Servo
MNT1_PITCH_MAX 45
MNT1_PITCH_MIN -135
MNT1_ROLL_MAX 30
MNT1_ROLL_MIN -30
MNT1_YAW_MAX 160
MNT1_YAW_MIN -160

# Gimbal on mount 1 has 2 DOF
MNT1_PITCH_MAX 90
MNT1_PITCH_MIN -90
MNT1_ROLL_MAX 90
MNT1_ROLL_MIN -90
MNT1_TYPE 1
# Gimbal RC in
RC6_MAX 1900
RC6_MIN 1100
RC6_OPTION 212 # Mount1 Roll
RC7_MAX 1900
RC7_MIN 1100
RC7_OPTION 213 # Mount1 Pitch
RC8_MAX 1900
RC8_MIN 1100
RC8_OPTION 214 # Mount1 Yaw
RC8_REVERSED 0 # Normal
RC9_MAX 1900
RC9_MIN 1100
RC9_OPTION 0 # Do Nothing

# Gimbal roll and pitch RC
RC9_OPTION 212
RC10_OPTION 213

# Gimbal roll and pitch servos
SERVO5_FUNCTION 8
SERVO6_FUNCTION 7
# Gimbal servo out
SERVO9_FUNCTION 8 # Mount1Roll
SERVO10_FUNCTION 7 # Mount1Pitch
SERVO11_FUNCTION 6 # Mount1Yaw
6 changes: 3 additions & 3 deletions models/gimbal_small_1d/model.sdf
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Expand Up @@ -140,11 +140,11 @@
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0 0 0.02 0 0 0</pose>
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12 changes: 6 additions & 6 deletions models/gimbal_small_2d/model.sdf
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Expand Up @@ -76,11 +76,11 @@
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.01 0 -0.04 0 0 0</pose>
Expand Down Expand Up @@ -176,11 +176,11 @@
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0 0 0.02 0 0 0</pose>
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18 changes: 9 additions & 9 deletions models/gimbal_small_3d/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -74,11 +74,11 @@
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.0105 0.065 -0.002 0 0 0</pose>
Expand Down Expand Up @@ -122,11 +122,11 @@
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.0099 0.002 -0.05 0 0 0</pose>
Expand Down Expand Up @@ -227,11 +227,11 @@
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.045 0.0021 0.0199 0 0 0</pose>
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43 changes: 32 additions & 11 deletions models/iris_with_gimbal/model.sdf
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Expand Up @@ -6,7 +6,7 @@
</include>

<include>
<uri>model://gimbal_small_2d</uri>
<uri>model://gimbal_small_3d</uri>
<name>gimbal</name>
<pose degrees="true">0 -0.01 -0.124923 90 0 90</pose>
</include>
Expand Down Expand Up @@ -280,26 +280,40 @@
<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
</control>

<control channel="4">
<!-- roll range is -30 to +30 deg -->
<control channel="8">
<jointName>gimbal::roll_joint</jointName>
<multiplier>3.14159265</multiplier>
<multiplier>1.047197551196</multiplier>
<offset>-0.5</offset>
<servo_min>1100</servo_min>
<servo_max>1900</servo_max>
<type>COMMAND</type>
<cmd_topic>/gimbal/cmd_roll</cmd_topic>
<p_gain>3</p_gain>
<p_gain>2</p_gain>
</control>

<control channel="5">
<jointName>gimbal::tilt_joint</jointName>
<multiplier>3.14159265</multiplier>
<!-- pitch range is -135 to +45 deg -->
<control channel="9">
<jointName>gimbal::pitch_joint</jointName>
<multiplier>-3.14159265</multiplier>
<offset>-0.75</offset>
<servo_min>1100</servo_min>
<servo_max>1900</servo_max>
<type>COMMAND</type>
<cmd_topic>/gimbal/cmd_pitch</cmd_topic>
<p_gain>2</p_gain>
</control>

<!-- yaw range is -160 to +160 deg -->
<control channel="10">
<jointName>gimbal::yaw_joint</jointName>
<multiplier>-5.5850536</multiplier>
<offset>-0.5</offset>
<servo_min>1100</servo_min>
<servo_max>1900</servo_max>
<type>COMMAND</type>
<cmd_topic>/gimbal/cmd_tilt</cmd_topic>
<p_gain>3</p_gain>
<cmd_topic>/gimbal/cmd_yaw</cmd_topic>
<p_gain>2</p_gain>
</control>

</plugin>
Expand All @@ -314,8 +328,15 @@
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>gimbal::tilt_joint</joint_name>
<topic>/gimbal/cmd_tilt</topic>
<joint_name>gimbal::pitch_joint</joint_name>
<topic>/gimbal/cmd_pitch</topic>
<p_gain>2</p_gain>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>gimbal::yaw_joint</joint_name>
<topic>/gimbal/cmd_yaw</topic>
<p_gain>2</p_gain>
</plugin>

Expand Down
2 changes: 1 addition & 1 deletion worlds/iris_runway.sdf
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Expand Up @@ -116,7 +116,7 @@
</include>

<include>
<uri>model://iris_with_ardupilot</uri>
<uri>model://iris_with_gimbal</uri>
<pose degrees="true">0 0 0.195 0 0 90</pose>
</include>

Expand Down
2 changes: 1 addition & 1 deletion worlds/iris_warehouse.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,7 @@

<include>
<pose>-6 0 0.25 0 0 0</pose>
<uri>model://iris_with_ardupilot</uri>
<uri>model://iris_with_gimbal</uri>
</include>

<include>
Expand Down
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